Todo List

Member depth_image_proc::RegisterNodelet::convert (const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::ImagePtr &registered_msg, const Eigen::Affine3d &depth_to_rgb)

When RGB is higher res, interpolate by rasterizing depth triangles onto the registered image

Combine all operations into one matrix multiply on (u,v,d)

Member depth_image_proc::RegisterNodelet::imageCb (const sensor_msgs::ImageConstPtr &depth_image_msg, const sensor_msgs::CameraInfoConstPtr &depth_info_msg, const sensor_msgs::CameraInfoConstPtr &rgb_info_msg)

Can take on order of a minute to register a disconnect callback when we don't call publish() in this cb. What's going on roscpp?